• 전자공학회논문지S
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• 제36S권6호
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• pp.67-75
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• 1999

자율분산로봇시스템에서 협조행동을 위한 로봇의 센싱과 통신 기능은 필수적이다. 일반적으로 대역적 통신시스템에서 로봇의 대수가 증가하면 통신자원의 제한과 정보의 범람이 발생한다. 따라서 이 경우 지역적 통신방법이 유리하다. 본 논문에서는 지역적 통신에 의한 정보의 전파를 해석하고 최적의 통신반경을 찾기 위한 3가지 방법을 제시한다. 또한 로봇이 정보를 획득하고 소실할 경우 발생하는 군의 카오스 행동을 피하기 위한 조건을 찾는다.

• Steel and Composite Structures
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• 제24권4호
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• pp.425-439
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• 2017

As a thin-walled structure, local joint flexibility (LJF) in a tubular structure is prominent, and it may produce significant effect on the static performance for the overall structure. This study presents a simplified analytical model to analyze the static behavior for a steel tubular structure with LJF. The presented model simplifies a tubular structure into a frame model consisted of beam elements with considering the LJFs at the connections between any two elements. Theoretical equations of the simplified analytical model are deduced. Through comparison with 3-D finite element results of two typical planar tubular structures consisted of T- and Y-joints respectively, the presented method is proved to be accurate. Furthermore, the effect of LJF on the overall performance of the two tubular structures (including the deflection and the internal forces) is also investigated, and it is found from analyses of internal forces and deformation that a rigid connection assumption in a frame model by using beam elements in finite element analysis can provide unsafe and inaccurate estimation.

• 대한기계학회논문집A
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• 제26권4호
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• pp.731-738
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• 2002

To understand failure behavior of pipe thinned by flow accelerated corrosion, in this study, the pipe failure tests were performed on 102mm-Sch.80 carbon steel pipe with various local wall thinning shapes, and the failure mode, load carrying capacity, and deformability were investigated. The tests were conducted under loading conditions of 4-points bending and internal pressure. The experimental results showed that the failure mode of thinned pipe depended on magnitude of internal pressure and thinning length as well as loading direction and thinning depth and angle. The variation in load carrying capacity and deformability of thinned pipe with thinning length was determined by stress type appled to the thinning area and circumferential thinning angle. Also, the effect of internal pressure on failure behavior was dependent on failure mode of thinned pipe, and it promoted crack occurrence and mitigated local buckling at thinned area.

• Steel and Composite Structures
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• 제24권6호
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• pp.753-765
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• 2017

This paper aims to investigate the strength degradation of reinforced concrete piers wrapped with steel plates which corrode at the pier base by employing a three dimensional elasto-plastic finite element formulation. The prediction accuracy of the employed finite element analysis method is firstly verified by comparing the analytical results with test results. Then, a series of parametric studies is carried out to investigate the effects of steel plate's corrosion position along width direction, corrosion depth along plate thickness, corrosion range along width direction, and steel plate-concrete bonding degradation on the strength of the piers. It is observed that the strength degradation of the piers is closely related to steel plate's corrosion position, corrosion depth and corrosion range in the case of local corrosion on the webs. In contrast, when the base of flanges corrodes, the strength degradation of the piers is only related to steel plate's corrosion depth and corrosion range, and the influence of corrosion position on the strength degradation is very gentle. Furthermore, the strength of the piers decreases with the degradation of steel plate-concrete bonding behavior. Finally, the maximum strength of the piers obtained from numerical analysis corresponding to different bonding behavior is compared with theoretical results within an accepted error.

• Structural Engineering and Mechanics
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• 제24권3호
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• pp.323-337
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• 2006

In this paper, the hysteretic behaviors of channel and C-section cold-formed steel members (CFSMs) under cyclic axial loading were simulated with the finite element method. Geometric and material nonlinearities, Bauschinger effect, strain hardening and strength improvement at corner zones were taken into account. Extensive numerical results indicated that, as the width-to-thickness ratio increases, local buckling occurs prematurely. As a result, the hysteretic behavior of the CFSMs degrades and their energy dissipation capability decreases. Due to the presence of lips, the hysteretic behavior of a C-section steel member is superior to that of its corresponding channel section. The intermediate stiffeners in a C-section steel member postpone the occurrence of local buckling and change its shapes, which can greatly improve its hysteretic behavior and energy dissipation capability. Therefore, the CFSMs with a large width-to-thickness ratio can be improved by adding lips and intermediate stiffeners, and can be used more extensively in residential buildings located in seismic areas.

• 한국컴퓨터정보학회논문지
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• 제13권5호
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• pp.309-313
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• 2008

본 논문에서는 경찰조직에서 경찰공무원들의 조직시민행동과 임파워먼트, 고객지향성에 대하여 검토한다. 그리고 우리나라 지역경찰관들의 행동을 유도해 내는데 이용되는 인적자원관리방법을 모색하고자 한다. 이를 위해서 실증적인 방법을 위한 기초연구의 기반을 제시하고자 하는데 연구의 목적을 두었다. 이에 본 연구에서는 경찰공무원에 대한 조직시민행동, 임파워먼트의 영향요인을 도출하여 구성원들의 고객지향성을 유도해 낼 수 있는 보다 효율적인 인적자원관리방안을 모색하는데 초점을 두고서 논의하였다.

• 농촌계획
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• 제23권4호
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• pp.169-178
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• 2017

Our society has been dominated by the Dilemma Theory that rational individuals cannot get out of the 'Tragedy of the Commons' without helps from state or market. However, many empirical researches have discovered cases that common pool resources could be managed by cooperative methods of community. Based on the possibility of managing common pool resources by residents' cooperation/solidarity revealed by the recent case researches, this study aims to seek for the theoretical basis to prove it. Generally, public policies are carried forward based on the theoretical basis of the relevant social issues. The objective of this study is to suggest the new direction of policies related to domestic common resources through the researches on community's role in managing local common pool resources represented as "scenic spot". For this, it aims to reveal the influence of community activity on behavioral intention of local common pool resources, by drawing/quantitatively measuring measurement items of local residents' community activity on top of attitude, norms, and behavioral control suggested by the existing Theory of Planned Behavior. The results of this study are as follows; 4 factors such as attitude toward behavior, subjective norm, perceived behavior control, and community activity were all factors that influenced intention to manage.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.123-128
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• 1996

Kinematically redundant manipulators have been studied because of its usefulness of kinematic redundancy. It is natural that the kinematic redundancy induces a kind of control redundancy. By using the weighted kinematically decoupled joint space decomposition, we unify the control redundancy and the kinematic redundancy parameterized by the joint space weighting matrix. Concentrating to the particular component of each decomposition, we can describe the local minimization behavior of the control weighted quadratic by each weighted decomposition. The result extends the conventional results on general setting, and should be of interest in understanding the motion behavior of kinematically redundant manipulators.

• International Journal of Control, Automation, and Systems
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• 제1권2호
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• pp.229-235
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• 2003

We designed a family of completely autonomous mobile robots with local intelligence. Each robot has a number of on-board sensors, including vision, and does not rely on global positioning systems The on-board embedded controller is sufficient to analyze several low-resolution color images per second. This enables our robots to perform several complex tasks such as navigation, map generation, or providing intelligent group behavior. Not being limited to playing the game of soccer and being completely autonomous, we are also looking at a number of other interesting scenarios. The robots can communicate with each other, e.g. for exchanging positions, information about objects or just the local states they are currently in (e.g. sharing their current objectives with other robots in the group). We are particularly interested in the differences between a behavior-based approach versus a traditional control algorithm at this still very low level of action.

• Structural Engineering and Mechanics
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• 제35권5호
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• pp.617-630
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• 2010

Different types of moment resisting connections are commonly used to transfer the induced seismic moments between frame elements in an earthquake resisting structure. The local connection behavior may drastically affect the global seismic response of the structure. In this study, the finite element and experimental seismic investigations are implemented on two frequently used connection type to evaluate the local behavior and to reveal the failure modes. An alternative connection type is then proposed to eliminate the unfavorable brittle fracture modes resulted from probable poor welding quality. This will develop a reliable predefined ductile plastic mechanism forming away from the critical locations. Employing this technique, the structural reliability of the moment resisting connections shall be improved by achieving a controllable energy dissipation source in form of yielding of the cover plates.